US5344223A - Anti-skid brake control method - Google Patents

Anti-skid brake control method Download PDF

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Publication number
US5344223A
US5344223A US08/109,473 US10947393A US5344223A US 5344223 A US5344223 A US 5344223A US 10947393 A US10947393 A US 10947393A US 5344223 A US5344223 A US 5344223A
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United States
Prior art keywords
vehicle
wheel
speed
brake control
wheels
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
US08/109,473
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English (en)
Inventor
Ryuta Sugawara
Satoshi Akimoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bosch Corp
Dow Silicones Corp
Original Assignee
Jidosha Kiki Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Assigned to DOW CORNING CORPORATION reassignment DOW CORNING CORPORATION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: WORDEN, RICHARD G., HALM, ROLAND L., OKESON, KEVIN J.
Application filed by Jidosha Kiki Co Ltd filed Critical Jidosha Kiki Co Ltd
Priority to US08/109,473 priority Critical patent/US5344223A/en
Application granted granted Critical
Publication of US5344223A publication Critical patent/US5344223A/en
Assigned to BOSCH BRAKING SYSTEMS CO., LTD. reassignment BOSCH BRAKING SYSTEMS CO., LTD. CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: JIDOSHA KIKI CO., LTD.
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1764—Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear

Definitions

  • the present invention relates to a method for anti-skid brake control, in which a car body speed is estimated from wheel speed information at braking, and a value relating to skidding of the wheels such as a wheel slipping rate is obtained from the estimated car body speed, and the braking is controlled according to this value, and in particular, it relates to an anti-skid brake control method for performing anti-skid brake control properly even when the car is steered during the anti-skid brake control.
  • Anti-skid brake control is performed as follows: In general, when it is detected that the wheels are in skid condition during braking, the braking force on the wheels is decreased to eliminate the skid condition. By increasing the braking force again thereafter, the steering of the vehicle is stabilized and braking distance is made as short as possible.
  • anti-skid brake control When this anti-skid brake control is performed, it is necessary to obtain a car body speed, which serves as a reference for the control, but it is difficult to find an accurate car body speed when the wheels are under skid condition during braking. Therefore, in performing anti-skid brake control, it has been normally practiced to estimate a car body speed, and anti-skid brake control is performed according to the estimated car body speed. In this case, various methods have been adopted to estimate the car body speed. One of the methods is to estimate the car body speed by Select-High. The method by Select-High is to obtain the estimated car body speed based on the highest wheel speed among the four front and rear wheels.
  • the estimated car body speed is prepared based on the wheel speed of the wheel running at the outermost course.
  • the speed of outer rear wheel is usually much faster than the speed of the gravity center of the car body when the car is turning, and the estimated car body speed is obtained based on the speed of this outer rear wheel in most cases.
  • a slip ratio is obtained from the estimated car body speed, and the slip ratio thus obtained is higher than the actual slip ratio. Accordingly, if anti-skid brake control is performed with this slip ratio, brake cylinder pressure of each wheel is decreased too much, and this causes insufficient deceleration of the wheels. In particular, braking force is not sufficiently applied on the outer front wheel, which most urgently needs the braking force when the car is turning, and the braking force on the rear wheels is also not enough.
  • the anti-skid brake control method is for performing anti-skid brake control based on a value relating to skid of wheels such as slip ratio of a wheel, which is obtained from a car body speed estimated from wheel speed information at braking, and it is characterized in that the highest wheel speed is selected from three wheel speeds including the lowest of wheel speeds of left and rear wheels and wheel speeds of left and right front wheels, and the car body speed is estimated on the basis of this highest wheel speed.
  • the estimated car body speed is obtained on the basis of the highest wheel speed selected from three wheel speeds including the lowest of the wheel speeds of left and right rear wheels and the wheel speeds of left and right front wheels.
  • the wheel speed of the outer rear wheel which is much faster than the speed of the gravity center of the car body when the car is turning, is excluded, and the estimated car body speed thus obtained is closer to the speed of the gravity center of the car body.
  • the single FIGURE is a flow chart used for an embodiment of anti-skid brake control method according to the present invention for obtaining estimated car body speed from wheel speed information.
  • Step 1 it is judged in the Step 1 to obtain the estimated car body speed whether or not wheel speed W RL of the left rear wheel is higher than the wheel speed W RR of the right rear wheel. If it has been judged that the wheel speed W RL of the left rear wheel is higher than the wheel speed W RR of the right rear wheel, a temporary value X is set to W RR in the Step 2. If the wheel speed W RL of the left rear wheel is not higher than the wheel speed W RR of the right rear wheel in the Step 1, a temporary value X is set to W RL in the Step 3.
  • the temporary value X is set to W FR in the Step 5. If the wheel speed W FR of the right front wheel is not higher than the temporary value X in the Step 4, the temporary value X is kept unchanged. Next, it is judged whether the wheel speed W FL of the left front wheel is higher than the temporary value X or not. If it is judged that the wheel speed W FL of the left front wheel is higher than the temporary value X, the temporary value X is set to W FL in the Step 7. If it is judged that the wheel speed W FL of the left front wheel is not higher than the temporary value X in the Step 6, the temporary value X is kept unchanged, and the estimated car body speed is obtained on the basis of this final temporary value X.
  • the estimated car body speed is obtained on the basis of the highest wheel speed selected from three wheel speeds including the lowest of the wheel speeds of left and right rear wheels and the wheel speeds of left and right front wheels.
  • the car body speed is obtained on the basis of the wheel speed, which has been selected by Select-High of three channels, i.e. wheel speeds of the two front wheels and the wheel speed by Rear Select-Low. Because the wheel speed of the outer rear wheel, which runs much higher than the speed of the gravity center of car body when the car is turning, is excluded, the estimated car body speed thus obtained is closer to the speed of the gravity center of the car body.
  • the anti-skid brake control using this estimated car body speed, it is possible to obtain a proper braking force in the anti-skid brake control when the car is turning. Accordingly, it is possible to more adequately control deceleration of the wheels.
  • sufficient braking force is applied on outer front wheel which most urgently needs the braking force, and the braking force on the rear wheels is also obtained.
  • the wheel speed of outer rear wheel which runs much higher than the speed of the gravity center of the car body when the car is turning, is excluded according to the anti-skid brake control method of the present invention, and the estimated car body speed thus obtained is closer to the speed of the gravity center of the car body.
  • the anti-skid brake control when the car is turning, sufficient braking force is obtained on outer front wheel, which most urgently needs the braking force, and braking force is also obtained on the rear wheel.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)
US08/109,473 1991-05-16 1993-08-20 Anti-skid brake control method Expired - Fee Related US5344223A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US08/109,473 US5344223A (en) 1991-05-16 1993-08-20 Anti-skid brake control method

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP3111984A JPH04339059A (ja) 1991-05-16 1991-05-16 アンチスキッドブレーキ制御方法
JP3-111984 1991-05-16
US88286192A 1992-05-14 1992-05-14
US08/109,473 US5344223A (en) 1991-05-16 1993-08-20 Anti-skid brake control method

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
US88286192A Continuation 1991-05-16 1992-05-14

Publications (1)

Publication Number Publication Date
US5344223A true US5344223A (en) 1994-09-06

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Family Applications (1)

Application Number Title Priority Date Filing Date
US08/109,473 Expired - Fee Related US5344223A (en) 1991-05-16 1993-08-20 Anti-skid brake control method

Country Status (2)

Country Link
US (1) US5344223A (ja)
JP (1) JPH04339059A (ja)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5799261A (en) * 1995-01-13 1998-08-25 Nissan Motor Co., Ltd. Anti-skid control system for automotive vehicles
US5992951A (en) * 1996-07-22 1999-11-30 Mitsubishi Denki Kabushiki Kasiha Anti-lock brake control system for motor vehicle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4877295A (en) * 1987-07-16 1989-10-31 Sumitomo Electric Industries, Ltd. Antiskid control device
US4980831A (en) * 1988-11-22 1990-12-25 Sumitomo Electric Industries, Ltd. Antilock control device
US4991910A (en) * 1987-12-04 1991-02-12 Akebono Brake Industry Co., Ltd. Anti-lock control system for motor vehicles
US5015042A (en) * 1988-12-21 1991-05-14 Sumitomo Electric Industries, Ltd. Antilock control device
US5065327A (en) * 1989-05-22 1991-11-12 Honda Giken Kogyo Kabushiki Kaisha Method for predicting a speed of a vehicle which is equipped with an antilock brake device
US5123715A (en) * 1990-02-16 1992-06-23 Akebono Brake Industry Co., Ltd. Estimating road friction coefficient

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4877295A (en) * 1987-07-16 1989-10-31 Sumitomo Electric Industries, Ltd. Antiskid control device
US4991910A (en) * 1987-12-04 1991-02-12 Akebono Brake Industry Co., Ltd. Anti-lock control system for motor vehicles
US4980831A (en) * 1988-11-22 1990-12-25 Sumitomo Electric Industries, Ltd. Antilock control device
US5015042A (en) * 1988-12-21 1991-05-14 Sumitomo Electric Industries, Ltd. Antilock control device
US5065327A (en) * 1989-05-22 1991-11-12 Honda Giken Kogyo Kabushiki Kaisha Method for predicting a speed of a vehicle which is equipped with an antilock brake device
US5123715A (en) * 1990-02-16 1992-06-23 Akebono Brake Industry Co., Ltd. Estimating road friction coefficient

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5799261A (en) * 1995-01-13 1998-08-25 Nissan Motor Co., Ltd. Anti-skid control system for automotive vehicles
US5992951A (en) * 1996-07-22 1999-11-30 Mitsubishi Denki Kabushiki Kasiha Anti-lock brake control system for motor vehicle

Also Published As

Publication number Publication date
JPH04339059A (ja) 1992-11-26

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AS Assignment

Owner name: DOW CORNING CORPORATION, MICHIGAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HALM, ROLAND L.;OKESON, KEVIN J.;WORDEN, RICHARD G.;REEL/FRAME:006657/0067;SIGNING DATES FROM 19930726 TO 19930803

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Free format text: PAYOR NUMBER ASSIGNED (ORIGINAL EVENT CODE: ASPN); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

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Year of fee payment: 4

AS Assignment

Owner name: BOSCH BRAKING SYSTEMS CO., LTD., JAPAN

Free format text: CHANGE OF NAME;ASSIGNOR:JIDOSHA KIKI CO., LTD.;REEL/FRAME:011485/0016

Effective date: 19990930

REMI Maintenance fee reminder mailed
LAPS Lapse for failure to pay maintenance fees
STCH Information on status: patent discontinuation

Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362

FP Lapsed due to failure to pay maintenance fee

Effective date: 20020906